CN105744218B - 垃圾清理方法及装置 - Google Patents

垃圾清理方法及装置 Download PDF

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Publication number
CN105744218B
CN105744218B CN201410764394.8A CN201410764394A CN105744218B CN 105744218 B CN105744218 B CN 105744218B CN 201410764394 A CN201410764394 A CN 201410764394A CN 105744218 B CN105744218 B CN 105744218B
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China
Prior art keywords
rubbish
monitoring
monitoring area
location information
robot
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CN201410764394.8A
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English (en)
Chinese (zh)
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CN105744218A (zh
Inventor
张鹏飞
夏勇峰
王益冬
刘铁俊
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Xiaomi Inc
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Xiaomi Inc
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Priority to CN201410764394.8A priority Critical patent/CN105744218B/zh
Application filed by Xiaomi Inc filed Critical Xiaomi Inc
Priority to KR1020157017426A priority patent/KR101637906B1/ko
Priority to RU2015124673A priority patent/RU2624737C2/ru
Priority to PCT/CN2015/078068 priority patent/WO2016090827A1/zh
Priority to MX2015008602A priority patent/MX354640B/es
Priority to JP2016563238A priority patent/JP6199507B2/ja
Priority to BR112015016506-0A priority patent/BR112015016506B1/pt
Priority to EP15198274.1A priority patent/EP3032369B1/en
Priority to US14/996,996 priority patent/US9862098B2/en
Publication of CN105744218A publication Critical patent/CN105744218A/zh
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Publication of CN105744218B publication Critical patent/CN105744218B/zh
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/281—Parameters or conditions being sensed the amount or condition of incoming dirt or dust
    • A47L9/2815—Parameters or conditions being sensed the amount or condition of incoming dirt or dust using optical detectors
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2826—Parameters or conditions being sensed the condition of the floor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2894—Details related to signal transmission in suction cleaners
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
    • G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
    • G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/188—Capturing isolated or intermittent images triggered by the occurrence of a predetermined event, e.g. an object reaching a predetermined position
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Robotics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • Software Systems (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Databases & Information Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Image Analysis (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Testing And Monitoring For Control Systems (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Selective Calling Equipment (AREA)
CN201410764394.8A 2014-12-11 2014-12-11 垃圾清理方法及装置 Active CN105744218B (zh)

Priority Applications (9)

Application Number Priority Date Filing Date Title
CN201410764394.8A CN105744218B (zh) 2014-12-11 2014-12-11 垃圾清理方法及装置
RU2015124673A RU2624737C2 (ru) 2014-12-11 2015-04-30 Способ и устройство для уборки мусора
PCT/CN2015/078068 WO2016090827A1 (zh) 2014-12-11 2015-04-30 垃圾清理方法及装置
MX2015008602A MX354640B (es) 2014-12-11 2015-04-30 Métodos para limpiar basura y dispositivos para los mismos.
KR1020157017426A KR101637906B1 (ko) 2014-12-11 2015-04-30 청소 방법, 장치, 프로그램 및 저장매체
JP2016563238A JP6199507B2 (ja) 2014-12-11 2015-04-30 掃除方法、装置、プログラム及び記録媒体
BR112015016506-0A BR112015016506B1 (pt) 2014-12-11 2015-04-30 Métodos para limpar lixo e dispositivos para os mesmos
EP15198274.1A EP3032369B1 (en) 2014-12-11 2015-12-07 Methods for clearing garbage and devices for the same
US14/996,996 US9862098B2 (en) 2014-12-11 2016-01-15 Methods and devices for cleaning garbage

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410764394.8A CN105744218B (zh) 2014-12-11 2014-12-11 垃圾清理方法及装置

Publications (2)

Publication Number Publication Date
CN105744218A CN105744218A (zh) 2016-07-06
CN105744218B true CN105744218B (zh) 2019-04-26

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Country Status (9)

Country Link
US (1) US9862098B2 (ru)
EP (1) EP3032369B1 (ru)
JP (1) JP6199507B2 (ru)
KR (1) KR101637906B1 (ru)
CN (1) CN105744218B (ru)
BR (1) BR112015016506B1 (ru)
MX (1) MX354640B (ru)
RU (1) RU2624737C2 (ru)
WO (1) WO2016090827A1 (ru)

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CN106651664A (zh) * 2016-11-18 2017-05-10 北京小米移动软件有限公司 垃圾清扫方法及装置
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CN108214498A (zh) * 2016-12-21 2018-06-29 李汉忠 一种超市垃圾自动清理方法
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CN106725127B (zh) * 2017-02-04 2020-06-02 北京小米移动软件有限公司 扫地机器人的清扫方法及装置
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